Jason Short
770956a3fd
ACM : Made control_roll and pitch global for logging; made yaw towards waypoint use initial angle and not a recalculated angle to deal with wiggles as we approach WP
2012-08-16 15:39:50 -07:00
rmackay9
36f947acb9
ArduCopter: changed all "int" to "int16_t" and a few "long"s to "int32_t".
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Also moved "simple_counter" variable from global scope to the "update_simple_mode" function which is the only place that it's actually used.
2012-08-16 20:04:46 +09:00
Jason Short
a4bc5950cf
ACM: Added a filtered version of Location for GPS lag.
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I did this because when you are close to a WP the Yaw angle can go a bit wacky as the location jumps around. The filtered loc is only used in the wp_distance calculation now.
2012-08-14 14:11:51 -07:00
Jason Short
993c89c4f8
ACM: Revved the version
2012-08-14 14:11:51 -07:00
Jason Short
b01a71c4b9
ACM: Toy mode updates - added second toy mode
2012-08-11 22:37:27 -07:00
Andrew Tridgell
81440a1b09
AHRS: fixed build
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AP_Airspeed.h is now needed to build AHRS
2012-08-11 12:22:55 +10:00
Jason Short
3ad08b7ffc
ACM : Added larger WP radius for fast waypoints so we don't loose speed angling in on the WP at the last second.
2012-08-10 10:02:32 -07:00
Jason Short
02649f3f11
ACM : Arducopter.pde
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command_nav_index upped to in16t for negative number
renamed trim flag > CH7_flag
Added fast_corner var
removed unused alt vars
Alt hold I term update
2012-08-09 16:59:43 -07:00
Amilcar Lucas
0b0b9c29a2
Allow fully independent operation of two AP_Mount instances
2012-08-08 23:11:23 +02:00
Amilcar Lucas
9cc705939a
Add a second mount instance
2012-08-08 23:07:25 +02:00
Andrew Tridgell
fb26160d3b
ACM: change to use get_bearing_cd() instead of get_bearing()
2012-08-08 12:12:30 +10:00
Andrew Tridgell
c2a4d59132
AP_Param: update ArduCopter core for new AP_Param interface
2012-08-08 12:11:57 +10:00
Amilcar Lucas
d9f1140278
ArduCopter: Use generic channel names for AP_Mount servos.
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This simplifies mission planner, the same code can be used for plane and copter now.
2012-08-06 23:33:51 +02:00
Amilcar Lucas
f14237126a
Add me :)
2012-08-06 00:40:12 +02:00
Amilcar Lucas
107155fa1a
AP_Mount: Allow using any RC channel to control any of the mount axes.
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This has the added benefit of saving 60 bytes and simplifying Mission Planner gui.
Moved some code from RC_Channel_aux to AP_Mount class
The servos get written by the update_mount_position() function, this simplifies main()
PS: The beauty of using libraries: I did not have to touch a single line of ArduPlane's code!
2012-08-05 23:48:57 +02:00
Amilcar Lucas
b8c7b8a786
RC_Channel: Allow each channel to know who they are, this simplifies the enabling and output function calls.
2012-08-05 23:08:31 +02:00
Amilcar Lucas
4ba847c449
The mount type must be updated periodically
2012-08-04 18:44:08 +02:00
rmackay9
c091c8e0e6
ArduCopter: bug fix to reset yaw target when zero and when in stabilize or acro mode.
2012-08-01 12:15:02 +09:00
Andreas M. Antonopoulos
de85442c36
AC2.7.1: Updated version and tag
2012-07-31 13:11:17 -07:00
rmackay9
5cb4a88292
ArduCopter: reset target yaw when throttle is zero (except if failsafe has been triggered)
2012-07-28 23:05:05 +09:00
rmackay9
670a66667f
ArduCopter: fixed HIL build by removing ability to change _kp and _kp_yaw gains (used for accel and gyro sensor mixing)
2012-07-28 16:22:35 +09:00
rmackay9
014f5aae99
ArduCopter: added DMP_ENABLE #define and CH6 tuning value for AHRS_KP
2012-07-28 14:21:07 +09:00
Michael Oborne
f4705577c8
AC fix sitl attitude hil build
2012-07-24 21:18:36 +08:00
Andreas M. Antonopoulos
80cf794c86
AC: ArduCopter 2.7 release candidate - updated THISFIRMWARE constant.
2012-07-21 17:52:06 -07:00
Jason Short
b17eb7f768
ACM: Fixed Baro rate patch to work with Sonar and added simple filter
2012-07-21 16:45:00 -07:00
Jason Short
9f6e1347b6
Ardcucopter: RTL distance check update, reset I terms fixed.
2012-07-20 13:27:35 -07:00
Jason Short
2b20c85279
Arducopter: cleanup, skip out of throttle control when flipping.
2012-07-19 22:35:21 -07:00
Jason Short
91062b56af
Arducopter.pde: Increased the throttle Hold altitude control
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simplified Yaw reset
2012-07-19 17:38:25 -07:00
Jason Short
1efc9eac58
Arducopter: Adjust landing speed
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removed commented out calc_loiter_pitch_roll calls
Changed updateRTL to use 1m be default instead of wp_radius to avoid poor loiter entry speed.
2012-07-19 09:48:31 -07:00
Jason Short
c9851344e7
Arducopter
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removed old Var
2012-07-18 22:57:10 -07:00
Jason Short
cb1cdcd4a7
Arducopter: New Alt control code
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Uses a new method to manage altitude changes. Alt hold controller was split into a hold and a rate controller just like navigation. Changing alt is done by specifying a climb rate.
Interactive alt hold is now simplified and is an 80cm climb or descent.
2012-07-18 22:57:10 -07:00
Jason Short
5965632888
Arducopter: Flip mode
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Flip mode graduates to pre-compiled option
2012-07-18 22:57:10 -07:00
rmackay9
b691c3f658
ArduCopter.pde: added call to set_manual_rc_channel to allow pilot's channel 6 to control pitch.
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This initialisation code should be moved to init_ardupilot and/or into the AP_Mount library.
2012-07-18 23:49:09 +09:00
Andreas M. Antonopoulos
a976a59c88
AP_Limits: Configuration defaults moved to config.h. Fixed AP_LIMITS==DISABLED handling.
2012-07-16 11:46:43 -07:00
rmackay9
c495a5f36e
ArduCopter: added enable_out_ch and output_ch calls for rc_camera_roll, pitch and yaw servos so they actually move
2012-07-15 16:38:28 +09:00
Andreas M. Antonopoulos
c73f7ef3ab
AP_Limits library, provides modular "limits" such as altitude and geo-fencing.
2012-07-14 19:26:17 -07:00
Jason Short
e3af0c7920
Arducopter: Yaw stop fix
2012-07-14 12:23:10 -07:00
Robert Lefebvre
59e133235f
Implementing Yaw Fix. Tried to blend with Jason's changes.
2012-07-14 00:24:22 -04:00
Jason Short
4af392290b
Circle_WP: Fix for Yaw toward center, fix for transit to Circle WP from a distance
2012-07-13 19:29:36 -07:00
Jason Short
7b746cf5e1
Arducopter: Wrong define used, caused Copter to Yaw to home when flying missions
2012-07-13 12:51:38 -07:00
Jason Short
d8ff5dcfab
Arducopter: Fix circle_WP
2012-07-12 09:22:20 -07:00
Jason Short
293f17902b
Arducopter:Arducopter.pde
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switched over to barometer.get_climb_rate() * 100
removed +home.alt calcs since home is always 0 altitude
2012-07-10 21:53:38 -07:00
Jason Short
3048d2f9b4
Arducopter: WP_radius
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Switching to stored WP_radius in meters, just like Arduplane
2012-07-10 21:53:38 -07:00
Amilcar Lucas
dfe0983e1e
Merge the changes from APM_Camera branch into ArduCopter
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Conflicts:
ArduCopter/Camera.pde
ArduCopter/Parameters.pde
2012-07-11 00:39:13 +02:00
Jason Short
f019d41729
arducopter.pde
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Timer was set =0 at initialization.
2012-07-09 13:13:32 -07:00
Jason Short
8ccda519fa
Arducopter.pde:
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Added note about -1 to disable feature
Set RTL_Atl by default after reaching home in case we're at the wrong alt.
increased speed of Yaw rotation for WPs
2012-07-03 17:21:46 -07:00
Jason Short
e0b3309500
Yaw mode:
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Improved hybrid Yaw mode:
- uses rate controller rather than as fast as possible
- waits 1.5 seconds before entering hold
- bounce free
2012-07-01 13:40:12 -07:00
Jason Short
c5617eeeac
Arducopter.pde_RTL:
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added a new RTL function that goes into Loiter, first, checks if we have reached RTL_Altitude, then enters WP mode to come home.
Removes Approach mode. Uses Auto_Approach value to decide if we should land or descend to a certain altitude
2012-07-01 13:40:11 -07:00
Jason Short
2e8eee9306
Added code for self centering throttle - disabled by default.
2012-07-01 13:40:11 -07:00
Jason Short
4d6ccccef5
Circle_WP distance check fix
2012-06-29 21:20:28 -07:00